2025-10-22 03:11:03 +00:00
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< title > 6. 性能基准测试 — OrbbecSDK V2 ROS2 封装 文档</ title >
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OrbbecSDK V2 ROS2 封装
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< li class = "toctree-l1" >< a class = "reference internal" href = "../1_overview/overview.html" > 1. 概述</ a >< ul >
< li class = "toctree-l2" >< a class = "reference internal" href = "../1_overview/introduction.html" > 1.1. 引言</ a >< ul >
< li class = "toctree-l3" >< a class = "reference internal" href = "../1_overview/introduction.html#id2" > 1.1.1. 支持的硬件产品</ a ></ li >
< li class = "toctree-l3" >< a class = "reference internal" href = "../1_overview/introduction.html#orbbec" > 1.1.2. Orbbec 相机规格书</ a ></ li >
< li class = "toctree-l3" >< a class = "reference internal" href = "../1_overview/introduction.html#id3" > 1.1.3. 支持的平台</ a ></ li >
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< li class = "toctree-l2" >< a class = "reference internal" href = "../1_overview/orbbecsdk_overview.html" > 1.2. Orbbec SDK 概述</ a >< ul >
< li class = "toctree-l3" >< a class = "reference internal" href = "../1_overview/orbbecsdk_overview.html#id1" > 1.2.1. 术语</ a ></ li >
< li class = "toctree-l3" >< a class = "reference internal" href = "../1_overview/orbbecsdk_overview.html#orbbec-sdk-v2" > 1.2.2. Orbbec SDK v2 架构概述</ a ></ li >
< li class = "toctree-l3" >< a class = "reference internal" href = "../1_overview/orbbecsdk_overview.html#sdk" > 1.2.3. SDK 概念概述</ a ></ li >
< li class = "toctree-l3" >< a class = "reference internal" href = "../1_overview/orbbecsdk_overview.html#id2" > 1.2.4. SDK 编程模型</ a ></ li >
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< li class = "toctree-l1" >< a class = "reference internal" href = "../2_installation/installation.html" > 2. 安装</ a >< ul >
< li class = "toctree-l2" >< a class = "reference internal" href = "../2_installation/build_the_package.html" > 2.1. 从源码构建</ a >< ul >
< li class = "toctree-l3" >< a class = "reference internal" href = "../2_installation/build_the_package.html#id2" > 2.1.1. 环境配置</ a ></ li >
< li class = "toctree-l3" >< a class = "reference internal" href = "../2_installation/build_the_package.html#linux-ros2" > 2.1.2. Linux ROS2 包装器编译</ a ></ li >
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< li class = "toctree-l2" >< a class = "reference internal" href = "../2_installation/registration_script.html" > 2.2. 注册脚本（必需）</ a ></ li >
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< li class = "toctree-l1" >< a class = "reference internal" href = "../3_quickstarts/quickstarts.html" > 3. 快速开始</ a >< ul >
< li class = "toctree-l2" >< a class = "reference internal" href = "../3_quickstarts/quickstart.html" > 3.1. ROS 包快速入门</ a >< ul >
< li class = "toctree-l3" >< a class = "reference internal" href = "../3_quickstarts/quickstart.html#id1" > 3.1.1. 简介</ a ></ li >
< li class = "toctree-l3" >< a class = "reference internal" href = "../3_quickstarts/quickstart.html#id2" > 3.1.2. 构建您的第一个相机应用</ a >< ul >
< li class = "toctree-l4" >< a class = "reference internal" href = "../3_quickstarts/quickstart.html#ros-2" > 3.1.2.1. 步骤 1：配置 ROS 2 和工作空间环境</ a ></ li >
< li class = "toctree-l4" >< a class = "reference internal" href = "../3_quickstarts/quickstart.html#id3" > 3.1.2.2. 步骤 2：启动相机节点</ a ></ li >
< li class = "toctree-l4" >< a class = "reference internal" href = "../3_quickstarts/quickstart.html#rviz2" > 3.1.2.3. 步骤 3：在 RViz2 中可视化</ a ></ li >
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< li class = "toctree-l3" >< a class = "reference internal" href = "../3_quickstarts/quickstart.html#id4" > 3.1.3. 示例功能</ a >< ul >
< li class = "toctree-l4" >< a class = "reference internal" href = "../3_quickstarts/quickstart.html#id5" > 3.1.3.1. 列出可用的话题/服务/参数</ a ></ li >
< li class = "toctree-l4" >< a class = "reference internal" href = "../3_quickstarts/quickstart.html#id6" > 3.1.3.2. 回显话题</ a ></ li >
< li class = "toctree-l4" >< a class = "reference internal" href = "../3_quickstarts/quickstart.html#id7" > 3.1.3.3. 调用服务</ a ></ li >
< li class = "toctree-l4" >< a class = "reference internal" href = "../3_quickstarts/quickstart.html#rosbag2" > 3.1.3.4. 使用 rosbag2 录制</ a ></ li >
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< li class = "toctree-l2" >< a class = "reference internal" href = "../3_quickstarts/orbbecviewer.html" > 3.2. OrbbecViewer 快速入门</ a >< ul >
< li class = "toctree-l3" >< a class = "reference internal" href = "../3_quickstarts/orbbecviewer.html#id1" > 3.2.1. 下载</ a ></ li >
< li class = "toctree-l3" >< a class = "reference internal" href = "../3_quickstarts/orbbecviewer.html#id2" > 3.2.2. 连接设备</ a ></ li >
< li class = "toctree-l3" >< a class = "reference internal" href = "../3_quickstarts/orbbecviewer.html#id3" > 3.2.3. 相机控制</ a ></ li >
< li class = "toctree-l3" >< a class = "reference internal" href = "../3_quickstarts/orbbecviewer.html#id4" > 3.2.4. 设备信息和固件升级</ a ></ li >
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< li class = "toctree-l1" >< a class = "reference internal" href = "../4_application_guide/application_guide.html" > 4. 应用指南</ a >< ul >
< li class = "toctree-l2" >< a class = "reference internal" href = "../4_application_guide/launch_parameters.html" > 4.1. 启动参数</ a >< ul >
< li class = "toctree-l3" >< a class = "reference internal" href = "../4_application_guide/launch_parameters.html#id2" > 4.1.1. 核心与数据流配置</ a ></ li >
< li class = "toctree-l3" >< a class = "reference internal" href = "../4_application_guide/launch_parameters.html#id3" > 4.1.2. 传感器控制</ a >< ul >
< li class = "toctree-l4" >< a class = "reference internal" href = "../4_application_guide/launch_parameters.html#id4" > 4.1.2.1. 彩色流</ a ></ li >
< li class = "toctree-l4" >< a class = "reference internal" href = "../4_application_guide/launch_parameters.html#id5" > 4.1.2.2. 深度流</ a ></ li >
< li class = "toctree-l4" >< a class = "reference internal" href = "../4_application_guide/launch_parameters.html#id6" > 4.1.2.3. 红外流</ a ></ li >
< li class = "toctree-l4" >< a class = "reference internal" href = "../4_application_guide/launch_parameters.html#ldp" > 4.1.2.4. 激光 / LDP</ a ></ li >
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< li class = "toctree-l3" >< a class = "reference internal" href = "../4_application_guide/launch_parameters.html#id7" > 4.1.3. 设备、同步与高级功能</ a >< ul >
< li class = "toctree-l4" >< a class = "reference internal" href = "../4_application_guide/launch_parameters.html#id8" > 4.1.3.1. 多相机同步</ a ></ li >
< li class = "toctree-l4" >< a class = "reference internal" href = "../4_application_guide/launch_parameters.html#id9" > 4.1.3.2. 网络相机</ a ></ li >
< li class = "toctree-l4" >< a class = "reference internal" href = "../4_application_guide/launch_parameters.html#id10" > 4.1.3.3. 设备特定</ a ></ li >
< li class = "toctree-l4" >< a class = "reference internal" href = "../4_application_guide/launch_parameters.html#id11" > 4.1.3.4. 视差</ a ></ li >
< li class = "toctree-l4" >< a class = "reference internal" href = "../4_application_guide/launch_parameters.html#ae" > 4.1.3.5. 交错AE模式</ a ></ li >
< li class = "toctree-l4" >< a class = "reference internal" href = "../4_application_guide/launch_parameters.html#id12" > 4.1.3.6. 相机内同步</ a ></ li >
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< li class = "toctree-l3" >< a class = "reference internal" href = "../4_application_guide/launch_parameters.html#id13" > 4.1.4. 基础与通用参数</ a >< ul >
< li class = "toctree-l4" >< a class = "reference internal" href = "../4_application_guide/launch_parameters.html#id14" > 4.1.4.1. 固件与后端</ a ></ li >
< li class = "toctree-l4" >< a class = "reference internal" href = "../4_application_guide/launch_parameters.html#tf" > 4.1.4.2. TF、外参与校准</ a ></ li >
< li class = "toctree-l4" >< a class = "reference internal" href = "../4_application_guide/launch_parameters.html#id15" > 4.1.4.3. 时间同步</ a ></ li >
< li class = "toctree-l4" >< a class = "reference internal" href = "../4_application_guide/launch_parameters.html#id16" > 4.1.4.4. 日志与诊断</ a ></ li >
< li class = "toctree-l4" >< a class = "reference internal" href = "../4_application_guide/launch_parameters.html#id17" > 4.1.4.5. 其他</ a ></ li >
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< li class = "toctree-l3" >< a class = "reference internal" href = "../4_application_guide/launch_parameters.html#imu" > 4.1.5. IMU</ a ></ li >
< li class = "toctree-l3" >< a class = "reference internal" href = "../4_application_guide/launch_parameters.html#id18" > 4.1.6. 深度滤波器</ a ></ li >
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< li class = "toctree-l2" >< a class = "reference internal" href = "../4_application_guide/services.html" > 4.2. 所有可用的相机控制服务</ a >< ul >
< li class = "toctree-l3" >< a class = "reference internal" href = "../4_application_guide/services.html#id2" > 4.2.1. 数据流控制</ a >< ul >
< li class = "toctree-l4" >< a class = "reference internal" href = "../4_application_guide/services.html#id3" > 4.2.1.1. 彩色流</ a ></ li >
< li class = "toctree-l4" >< a class = "reference internal" href = "../4_application_guide/services.html#id4" > 4.2.1.2. 深度流</ a ></ li >
< li class = "toctree-l4" >< a class = "reference internal" href = "../4_application_guide/services.html#id5" > 4.2.1.3. 红外流</ a ></ li >
< li class = "toctree-l4" >< a class = "reference internal" href = "../4_application_guide/services.html#id6" > 4.2.1.4. 所有数据流</ a ></ li >
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< li class = "toctree-l3" >< a class = "reference internal" href = "../4_application_guide/services.html#id7" > 4.2.2. 传感器与发射器控制</ a ></ li >
< li class = "toctree-l3" >< a class = "reference internal" href = "../4_application_guide/services.html#id8" > 4.2.3. 设备信息与管理</ a ></ li >
< li class = "toctree-l3" >< a class = "reference internal" href = "../4_application_guide/services.html#id9" > 4.2.4. 同步与触发</ a ></ li >
< li class = "toctree-l3" >< a class = "reference internal" href = "../4_application_guide/services.html#id10" > 4.2.5. 深度滤波器配置</ a ></ li >
< li class = "toctree-l3" >< a class = "reference internal" href = "../4_application_guide/services.html#id11" > 4.2.6. 数据捕获与校准管理</ a ></ li >
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< li class = "toctree-l2" >< a class = "reference internal" href = "../4_application_guide/topics.html" > 4.3. 可用话题</ a >< ul >
< li class = "toctree-l3" >< a class = "reference internal" href = "../4_application_guide/topics.html#id2" > 4.3.1. 图像流</ a ></ li >
< li class = "toctree-l3" >< a class = "reference internal" href = "../4_application_guide/topics.html#id3" > 4.3.2. 点云话题</ a ></ li >
< li class = "toctree-l3" >< a class = "reference internal" href = "../4_application_guide/topics.html#imu" > 4.3.3. IMU话题</ a ></ li >
< li class = "toctree-l3" >< a class = "reference internal" href = "../4_application_guide/topics.html#id4" > 4.3.4. 设备状态与诊断</ a ></ li >
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< li class = "toctree-l2" >< a class = "reference internal" href = "../4_application_guide/coordinate_and_tf.html" > 4.4. 坐标系和 TF 变换</ a >< ul >
< li class = "toctree-l3" >< a class = "reference internal" href = "../4_application_guide/coordinate_and_tf.html#id1" > 4.4.1. 相机传感器结构</ a ></ li >
2025-10-30 05:44:37 +00:00
< li class = "toctree-l3" >< a class = "reference internal" href = "../4_application_guide/coordinate_and_tf.html#ros2-vs" > 4.4.2. ROS2机器人坐标系 vs 相机光学坐标系</ a ></ li >
< li class = "toctree-l3" >< a class = "reference internal" href = "../4_application_guide/coordinate_and_tf.html#ros2-tf" > 4.4.3. ROS2 TF工具的使用</ a >< ul >
< li class = "toctree-l4" >< a class = "reference internal" href = "../4_application_guide/coordinate_and_tf.html#id2" > 4.4.3.1. 查看TF树结构</ a ></ li >
< li class = "toctree-l4" >< a class = "reference internal" href = "../4_application_guide/coordinate_and_tf.html#rviz2tf" > 4.4.3.2. 使用rviz2可视化TF树</ a ></ li >
2025-10-22 03:11:03 +00:00
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</ li >
2025-10-30 05:44:37 +00:00
< li class = "toctree-l3" >< a class = "reference internal" href = "../4_application_guide/coordinate_and_tf.html#id3" > 4.4.4. 相机TF计算和发布机制</ a >< ul >
2025-10-31 02:59:43 +00:00
< li class = "toctree-l4" >< a class = "reference internal" href = "../4_application_guide/coordinate_and_tf.html#obcameranode-calcandpublishstatictransform" > 4.4.4.1. 核心函数：OBCameraNode::calcAndPublishStaticTransform()</ a ></ li >
2025-10-30 05:44:37 +00:00
< li class = "toctree-l4" >< a class = "reference internal" href = "../4_application_guide/coordinate_and_tf.html#id4" > 4.4.4.2. 函数解析</ a ></ li >
2025-10-28 05:42:34 +00:00
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2025-10-29 02:39:39 +00:00
< li class = "toctree-l2" >< a class = "reference internal" href = "../4_application_guide/compressed_image.html" > 4.5. 压缩图像</ a ></ li >
< li class = "toctree-l2" >< a class = "reference internal" href = "../4_application_guide/point_cloud.html" > 4.6. 在ROS 2中启用和可视化点云</ a >< ul >
< li class = "toctree-l3" >< a class = "reference internal" href = "../4_application_guide/point_cloud.html#id1" > 4.6.1. 启用深度点云</ a >< ul >
< li class = "toctree-l4" >< a class = "reference internal" href = "../4_application_guide/point_cloud.html#id2" > 4.6.1.1. 启用深度点云的命令</ a ></ li >
< li class = "toctree-l4" >< a class = "reference internal" href = "../4_application_guide/point_cloud.html#rviz2" > 4.6.1.2. 在RViz2中可视化深度点云</ a ></ li >
2025-10-29 02:21:39 +00:00
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</ li >
2025-10-29 02:39:39 +00:00
< li class = "toctree-l3" >< a class = "reference internal" href = "../4_application_guide/point_cloud.html#id3" > 4.6.2. 启用彩色点云</ a >< ul >
< li class = "toctree-l4" >< a class = "reference internal" href = "../4_application_guide/point_cloud.html#id4" > 4.6.2.1. 启用彩色点云的命令</ a ></ li >
< li class = "toctree-l4" >< a class = "reference internal" href = "../4_application_guide/point_cloud.html#id5" > 4.6.2.2. 在RViz2中可视化彩色点云</ a ></ li >
2025-10-22 03:11:03 +00:00
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< li class = "toctree-l1" >< a class = "reference internal" href = "../5_advanced_guide/advanced_guide.html" > 5. 高级指南</ a >< ul >
< li class = "toctree-l2" >< a class = "reference internal" href = "../5_advanced_guide/advanced_guide.html#id2" > 5.1. 性能与优化</ a >< ul >
< li class = "toctree-l3" >< a class = "reference internal" href = "../5_advanced_guide/performance/lower_cpu_usage.html" > 5.1.1. 使用Orbbec ROS包降低CPU使用率</ a >< ul >
< li class = "toctree-l4" >< a class = "reference internal" href = "../5_advanced_guide/performance/lower_cpu_usage.html#cpu" > 5.1.1.1. 降低CPU使用率的推荐设置</ a ></ li >
< li class = "toctree-l4" >< a class = "reference internal" href = "../5_advanced_guide/performance/lower_cpu_usage.html#id1" > 5.1.1.2. 用于测试的启动文件</ a ></ li >
< li class = "toctree-l4" >< a class = "reference internal" href = "../5_advanced_guide/performance/lower_cpu_usage.html#id2" > 5.1.1.3. 测试环境</ a ></ li >
< li class = "toctree-l4" >< a class = "reference internal" href = "../5_advanced_guide/performance/lower_cpu_usage.html#id3" > 5.1.1.4. 测试设置</ a ></ li >
< li class = "toctree-l4" >< a class = "reference internal" href = "../5_advanced_guide/performance/lower_cpu_usage.html#id4" > 5.1.1.5. 测试结果</ a ></ li >
< li class = "toctree-l4" >< a class = "reference internal" href = "../5_advanced_guide/performance/lower_cpu_usage.html#id5" > 5.1.1.6. 进一步优化</ a ></ li >
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< li class = "toctree-l3" >< a class = "reference internal" href = "../5_advanced_guide/performance/efficient_intra_process_communication.html" > 5.1.2. 高效的进程内通信：</ a >< ul >
< li class = "toctree-l4" >< a class = "reference internal" href = "../5_advanced_guide/performance/efficient_intra_process_communication.html#id2" > 5.1.2.1. 简介</ a ></ li >
< li class = "toctree-l4" >< a class = "reference internal" href = "../5_advanced_guide/performance/efficient_intra_process_communication.html#id3" > 5.1.2.2. 示例</ a ></ li >
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< li class = "toctree-l3" >< a class = "reference internal" href = "../5_advanced_guide/performance/fastdds_tuning.html" > 5.1.3. 针对Orbbec相机与ROS2的Fast DDS优化</ a >< ul >
< li class = "toctree-l4" >< a class = "reference internal" href = "../5_advanced_guide/performance/fastdds_tuning.html#id1" > 5.1.3.1. 调整系统参数</ a ></ li >
< li class = "toctree-l4" >< a class = "reference internal" href = "../5_advanced_guide/performance/fastdds_tuning.html#fast-dds" > 5.1.3.2. Fast DDS配置</ a ></ li >
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< li class = "toctree-l2" >< a class = "reference internal" href = "../5_advanced_guide/advanced_guide.html#id3" > 5.2. 多相机</ a >< ul >
< li class = "toctree-l3" >< a class = "reference internal" href = "../5_advanced_guide/multi_camera/multi_camera.html" > 5.2.1. 多相机</ a >< ul >
< li class = "toctree-l4" >< a class = "reference internal" href = "../5_advanced_guide/multi_camera/multi_camera.html#id2" > 5.2.1.1. 多相机无数据流</ a ></ li >
< li class = "toctree-l4" >< a class = "reference internal" href = "../5_advanced_guide/multi_camera/multi_camera.html#id3" > 5.2.1.2. 多相机图像话题帧率过低</ a ></ li >
</ ul >
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< li class = "toctree-l3" >< a class = "reference internal" href = "../5_advanced_guide/multi_camera/multi_camera_synced.html" > 5.2.2. 多相机同步说明</ a >< ul >
< li class = "toctree-l4" >< a class = "reference internal" href = "../5_advanced_guide/multi_camera/multi_camera_synced.html#id2" > 5.2.2.1. 设置说明</ a ></ li >
< li class = "toctree-l4" >< a class = "reference internal" href = "../5_advanced_guide/multi_camera/multi_camera_synced.html#orbbecsdk-ros2" > 5.2.2.2. 使用 OrbbecSDK_ROS2 检查相机端口</ a ></ li >
< li class = "toctree-l4" >< a class = "reference internal" href = "../5_advanced_guide/multi_camera/multi_camera_synced.html#id3" > 5.2.2.3. OrbbecSDK_ROS2 多相机同步配置</ a ></ li >
< li class = "toctree-l4" >< a class = "reference internal" href = "../5_advanced_guide/multi_camera/multi_camera_synced.html#id4" > 5.2.2.4. 运行以下命令启动多相机同步</ a ></ li >
</ ul >
</ li >
2025-11-17 01:39:39 +00:00
< li class = "toctree-l3" >< a class = "reference internal" href = "../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html" > 5.2.3. 多相机同步验证节点</ a >< ul >
< li class = "toctree-l4" >< a class = "reference internal" href = "../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id2" > 5.2.3.1. 使用教程</ a >< ul >
< li class = "toctree-l5" >< a class = "reference internal" href = "../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#multi-camera-synced-launch-py" > 5.2.3.1.1. < strong > 在 < code class = "docutils literal notranslate" >< span class = "pre" > multi_camera_synced.launch.py</ span ></ code > 的基础上做以下修改</ strong ></ a ></ li >
< li class = "toctree-l5" >< a class = "reference internal" href = "../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id3" > 5.2.3.1.2. < strong > 参数文件修改</ strong ></ a ></ li >
< li class = "toctree-l5" >< a class = "reference internal" href = "../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id4" > 5.2.3.1.3. < strong > 启动与验证</ strong ></ a ></ li >
< li class = "toctree-l5" >< a class = "reference internal" href = "../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#launch" > 5.2.3.1.4. < strong > 参考 launch 文件</ strong ></ a ></ li >
</ ul >
</ li >
< li class = "toctree-l4" >< a class = "reference internal" href = "../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id5" > 5.2.3.2. 必要系统配置</ a >< ul >
< li class = "toctree-l5" >< a class = "reference internal" href = "../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#usb" > 5.2.3.2.1. < strong > 提升 USB 缓冲区容量</ strong ></ a ></ li >
< li class = "toctree-l5" >< a class = "reference internal" href = "../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#fast-dds" > 5.2.3.2.2. < strong > 配置 Fast DDS</ strong ></ a ></ li >
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</ li >
2025-10-22 03:11:03 +00:00
</ ul >
</ li >
< li class = "toctree-l3" >< a class = "reference internal" href = "../5_advanced_guide/multi_camera/gmsl_camera.html" > 5.2.4. GMSL 相机</ a >< ul >
< li class = "toctree-l4" >< a class = "reference internal" href = "../5_advanced_guide/multi_camera/gmsl_camera.html#id1" > 5.2.4.1. 单个 GMSL 相机</ a ></ li >
< li class = "toctree-l4" >< a class = "reference internal" href = "../5_advanced_guide/multi_camera/gmsl_camera.html#id2" > 5.2.4.2. 多个 GMSL 相机</ a ></ li >
< li class = "toctree-l4" >< a class = "reference internal" href = "../5_advanced_guide/multi_camera/gmsl_camera.html#id3" > 5.2.4.3. 多个 GMSL 相机同步</ a ></ li >
< li class = "toctree-l4" >< a class = "reference internal" href = "../5_advanced_guide/multi_camera/gmsl_camera.html#id4" > 5.2.4.4. GMSL 相机的使用限制</ a ></ li >
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< li class = "toctree-l2" >< a class = "reference internal" href = "../5_advanced_guide/advanced_guide.html#id4" > 5.3. 配置与模式</ a >< ul >
< li class = "toctree-l3" >< a class = "reference internal" href = "../5_advanced_guide/configuration/align_depth_color.html" > 5.3.1. 在 ROS 2 中对齐深度到彩色</ a >< ul >
< li class = "toctree-l4" >< a class = "reference internal" href = "../5_advanced_guide/configuration/align_depth_color.html#id1" > 5.3.1.1. 对齐和查看深度和彩色图像的命令</ a ></ li >
< li class = "toctree-l4" >< a class = "reference internal" href = "../5_advanced_guide/configuration/align_depth_color.html#rviz2" > 5.3.1.2. 在 RViz2 中选择话题</ a ></ li >
< li class = "toctree-l4" >< a class = "reference internal" href = "../5_advanced_guide/configuration/align_depth_color.html#id2" > 5.3.1.3. 深度到彩色叠加示例</ a ></ li >
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< li class = "toctree-l3" >< a class = "reference internal" href = "../5_advanced_guide/configuration/configuration_of_depth_NFOV_and_WFOV_modes.html" > 5.3.2. 深度 NFOV 和 WFOV 模式配置</ a ></ li >
< li class = "toctree-l3" >< a class = "reference internal" href = "../5_advanced_guide/configuration/depth_work_mode_switch.html" > 5.3.3. 深度工作模式切换</ a ></ li >
< li class = "toctree-l3" >< a class = "reference internal" href = "../5_advanced_guide/configuration/disparity_search_offset.html" > 5.3.4. 视差搜索偏移</ a >< ul >
< li class = "toctree-l4" >< a class = "reference internal" href = "../5_advanced_guide/configuration/disparity_search_offset.html#id2" > 5.3.4.1. 功能介绍</ a ></ li >
< li class = "toctree-l4" >< a class = "reference internal" href = "../5_advanced_guide/configuration/disparity_search_offset.html#id3" > 5.3.4.2. 参数介绍</ a ></ li >
< li class = "toctree-l4" >< a class = "reference internal" href = "../5_advanced_guide/configuration/disparity_search_offset.html#id4" > 5.3.4.3. 运行启动文件</ a ></ li >
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< li class = "toctree-l3" >< a class = "reference internal" href = "../5_advanced_guide/configuration/interleave_ae_mode.html" > 5.3.5. 在 Gemini330 系列相机中使用 interleave_ae</ a >< ul >
< li class = "toctree-l4" >< a class = "reference internal" href = "../5_advanced_guide/configuration/interleave_ae_mode.html#id1" > 5.3.5.1. 参数介绍</ a ></ li >
< li class = "toctree-l4" >< a class = "reference internal" href = "../5_advanced_guide/configuration/interleave_ae_mode.html#id2" > 5.3.5.2. 运行启动文件</ a ></ li >
< li class = "toctree-l4" >< a class = "reference internal" href = "../5_advanced_guide/configuration/interleave_ae_mode.html#multi-camera-synced-interleave-ae" > 5.3.5.3. Multi_camera_synced + Interleave_ae</ a ></ li >
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< li class = "toctree-l3" >< a class = "reference internal" href = "../5_advanced_guide/configuration/predefined_presets.html" > 5.3.6. 预定义预设</ a ></ li >
< li class = "toctree-l3" >< a class = "reference internal" href = "../5_advanced_guide/configuration/net_camera.html" > 5.3.7. 网络相机</ a >< ul >
< li class = "toctree-l4" >< a class = "reference internal" href = "../5_advanced_guide/configuration/net_camera.html#femto-mega-gemini-435le-gemini-335le" > 5.3.7.1. Femto Mega & Gemini 435Le & Gemini 335Le</ a ></ li >
< li class = "toctree-l4" >< a class = "reference internal" href = "../5_advanced_guide/configuration/net_camera.html#set-device-ip" > 5.3.7.2. set_device_ip 工具</ a ></ li >
< li class = "toctree-l4" >< a class = "reference internal" href = "../5_advanced_guide/configuration/net_camera.html#ip" > 5.3.7.3. 强制 IP 功能</ a ></ li >
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< li class = "toctree-l1 current" >< a class = "current reference internal" href = "#" > 6. 性能基准测试</ a >< ul >
< li class = "toctree-l2" >< a class = "reference internal" href = "introduction.html" > 6.1. 介绍</ a >< ul >
< li class = "toctree-l3" >< a class = "reference internal" href = "introduction.html#id2" > 6.1.1. 通用基准测试节点</ a ></ li >
< li class = "toctree-l3" >< a class = "reference internal" href = "introduction.html#id3" > 6.1.2. 服务基准测试节点</ a ></ li >
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< li class = "toctree-l2" >< a class = "reference internal" href = "benchmark_usage.html" > 6.2. 性能基准测试使用</ a >< ul >
< li class = "toctree-l3" >< a class = "reference internal" href = "benchmark_usage.html#id2" > 6.2.1. 使用通用基准测试节点</ a ></ li >
< li class = "toctree-l3" >< a class = "reference internal" href = "benchmark_usage.html#id3" > 6.2.2. 使用服务基准测试节点</ a >< ul >
< li class = "toctree-l4" >< a class = "reference internal" href = "benchmark_usage.html#ros2-c" > 6.2.2.1. ROS2 C++</ a ></ li >
< li class = "toctree-l4" >< a class = "reference internal" href = "benchmark_usage.html#ros2-python" > 6.2.2.2. ROS2 Python</ a ></ li >
< li class = "toctree-l4" >< a class = "reference internal" href = "benchmark_usage.html#yaml" > 6.2.2.3. < strong > 示例 YAML 配置</ strong ></ a ></ li >
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< li class = "toctree-l2" >< a class = "reference internal" href = "benchmark_data.html" > 6.3. 性能基准测试数据</ a >< ul >
< li class = "toctree-l3" >< a class = "reference internal" href = "benchmark_data.html#id2" > 6.3.1. 通用基准测试数据</ a ></ li >
< li class = "toctree-l3" >< a class = "reference internal" href = "benchmark_data.html#id3" > 6.3.2. 服务基准测试数据</ a ></ li >
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< li class = "toctree-l2" >< a class = "reference internal" href = "othertools.html" > 6.4. 其他工具</ a >< ul >
< li class = "toctree-l3" >< a class = "reference internal" href = "othertools.html#ob-benchmark" > 6.4.1. Ob_benchmark 工具</ a >< ul >
< li class = "toctree-l4" >< a class = "reference internal" href = "othertools.html#start-benchmark-params-json" > 6.4.1.1. 工具配置 (start_benchmark_params.json)</ a ></ li >
< li class = "toctree-l4" >< a class = "reference internal" href = "othertools.html#id2" > 6.4.1.2. 相机配置（启动文件）</ a ></ li >
< li class = "toctree-l4" >< a class = "reference internal" href = "othertools.html#id3" > 6.4.1.3. 运行 ob_benchmark 工具</ a ></ li >
< li class = "toctree-l4" >< a class = "reference internal" href = "othertools.html#id4" > 6.4.1.4. 输出数据文件</ a ></ li >
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< li class = "toctree-l1" >< a class = "reference internal" href = "../7_developer_guide/developer_guide.html" > 7. 开发者指南</ a >< ul >
< li class = "toctree-l2" >< a class = "reference internal" href = "../7_developer_guide/migration_guide.html" > 7.1. 从 main 分支迁移到开源 v2-main 分支</ a >< ul >
2025-10-22 03:17:31 +00:00
< li class = "toctree-l3" >< a class = "reference internal" href = "../7_developer_guide/migration_guide.html#id1" > 7.1.1. 引言</ a ></ li >
< li class = "toctree-l3" >< a class = "reference internal" href = "../7_developer_guide/migration_guide.html#id2" > 7.1.2. 从 main 迁移到 v2-main 的优势</ a >< ul >
2025-10-22 03:11:03 +00:00
< li class = "toctree-l4" >< a class = "reference internal" href = "../7_developer_guide/migration_guide.html#id3" > 7.1.2.1. < strong > 全面的设备支持</ strong ></ a ></ li >
< li class = "toctree-l4" >< a class = "reference internal" href = "../7_developer_guide/migration_guide.html#id4" > 7.1.2.2. < strong > 透明性和可扩展性</ strong ></ a ></ li >
< li class = "toctree-l4" >< a class = "reference internal" href = "../7_developer_guide/migration_guide.html#id5" > 7.1.2.3. 维护和更新优势</ a ></ li >
< li class = "toctree-l4" >< a class = "reference internal" href = "../7_developer_guide/migration_guide.html#id6" > 7.1.2.4. < strong > 社区和生态系统支持</ strong ></ a ></ li >
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< li class = "toctree-l3" >< a class = "reference internal" href = "../7_developer_guide/migration_guide.html#id7" > 7.1.3. main 和 v2-main 分支的比较</ a >< ul >
< li class = "toctree-l4" >< a class = "reference internal" href = "../7_developer_guide/migration_guide.html#id8" > 7.1.3.1. < strong > 启动文件差异</ strong ></ a ></ li >
< li class = "toctree-l4" >< a class = "reference internal" href = "../7_developer_guide/migration_guide.html#id9" > 7.1.3.2. < strong > 参数差异</ strong ></ a ></ li >
< li class = "toctree-l4" >< a class = "reference internal" href = "../7_developer_guide/migration_guide.html#id10" > 7.1.3.3. < strong > 话题差异</ strong ></ a ></ li >
< li class = "toctree-l4" >< a class = "reference internal" href = "../7_developer_guide/migration_guide.html#id11" > 7.1.3.4. < strong > 服务差异</ strong ></ a ></ li >
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< li class = "toctree-l2" >< a class = "reference internal" href = "../7_developer_guide/building_a_Debian_Package.html" > 7.2. 构建 Debian 软件包</ a >< ul >
< li class = "toctree-l3" >< a class = "reference internal" href = "../7_developer_guide/building_a_Debian_Package.html#id1" > 7.2.1. 准备环境</ a ></ li >
< li class = "toctree-l3" >< a class = "reference internal" href = "../7_developer_guide/building_a_Debian_Package.html#ros" > 7.2.2. 配置 ROS 依赖项</ a ></ li >
< li class = "toctree-l3" >< a class = "reference internal" href = "../7_developer_guide/building_a_Debian_Package.html#id2" > 7.2.3. 构建软件包</ a ></ li >
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< li class = "toctree-l2" >< a class = "reference internal" href = "../8_FAQ/FAQ.html#id2" > 8.1. 意外崩溃</ a ></ li >
< li class = "toctree-l2" >< a class = "reference internal" href = "../8_FAQ/FAQ.html#id3" > 8.2. 多相机无数据流</ a ></ li >
< li class = "toctree-l2" >< a class = "reference internal" href = "../8_FAQ/FAQ.html#id4" > 8.3. 其他故障排除</ a ></ li >
< li class = "toctree-l2" >< a class = "reference internal" href = "../8_FAQ/FAQ.html#id5" > 8.4. 为什么有这么多启动文件？</ a ></ li >
2025-10-31 02:59:43 +00:00
< li class = "toctree-l2" >< a class = "reference internal" href = "../8_FAQ/FAQ.html#id6" > 8.5. 多相机连接时如何指定启动某一个相机</ a ></ li >
2025-10-22 03:11:03 +00:00
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< li class = "toctree-l1" >< a class = "reference internal" href = "introduction.html" > 6.1. 介绍</ a >< ul >
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